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A Position and Torque Switching Control Method for Robot Collision Safety

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International Journal of Automation and computing 2018年第2期15卷 156-168页

作者： Zhi-Jing Li Hai-Bin Wu jian-ming yang ming-Hao Wang Jin-Hua Ye School of Mechanical Engineering and Automation Fuzhou University Department of Mechanical System Meijo University

With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching con- trol method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switch- ing control method includes two modes, the position control mode using a proportion-integral （PI） algorithm, and the torque control mode using sliding mode control （SMC） algorithm for eliminating swing. Under the normal condition, the robot works in position con- trol mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to po- sition control mode automatically. Moreover, for a better performance, the joint torque is detected fl＇om direct-current （DC） motor＇s cur- rent rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.

关键词： Human-robot interaction position control torque control switching control robot collision safety.

Giant low-grade appendiceal mucinous neoplasm: A case report

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World Journal of Clinical Cases 2019年第13期7卷 1726-1731页

作者： jian-ming yang Wei-Hao Zhang Dan-Dan yang Hao jiang Lei Yu Feng Gao Department of Colorectal Cancer Surgery Second Affiliated Hospital of Harbin Medical University

BACKGROUND Appendiceal mucinous neoplasm (AMN) is extremely rare. Since the disease does not manifest a characteristic profile of clinical symptoms, it is easy to misdiagnose and still difficult to diagnose without operation. Here, we report a case of low-grade AMN (LAMN) and summarize its clinical features, diagnosis, and treatment. CASE SUMMARY A 63-year-old postmenopausal woman presented with a history of right lower abdominal mass. The patient underwent laparotomy, which showed an appendiceal mucocele originating from the apex of the appendix, and a simple appendectomy was performed. The subsequent histological assessment identified an LAMN with no lymph node involvement and negative surgical margin. The patient received six cycles of chemotherapy after surgery, and to date, more than a year after the surgery, the patient remains in good health. CONCLUSION A unified, standardized, detailed, and accurate pathological diagnosis is needed for LAMN, to facilitate selection of an appropriate surgical plan. In addition, the surgeon should record the details of the tumors in the surgical records in order to facilitate follow-up after surgery.

关键词： Mucocele of appendix Appendiceal mucinous neoplasm Low-grade appendiceal mucinous neoplasm Pathological profile Diagnosis Case report

Assessment of genetic diversity by simple sequence repeat markers among forty elite varieties in the germplasm for malting barley breeding

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2010年第10期11卷 792-800页

作者： Jun-mei WANG jian-ming yang Jing-huan ZHU Qiao-jun JIA Yue-zhi TAO Institute of Crop and Nuclear Technology Utilization Zhejiang Academy of Agricultural Sciences Hangzhou 310021 China

The genetic diversity and relationship among 40 elite barley varieties were analyzed based on simple sequence repeat （SSR） genotyping data. The amplified fragments from SSR primers were highly polymorphic in the badey accessions investigated. A total of 85 alleles were detected at 35 SSR loci, and allelic variations existed at 29 SSR loci. The allele number per locus ranged from 1 to 5 with an average of 2.4 alleles per locus detected from the 40 badey accessions. A cluster analysis based on the genetic similarity coefficients was conducted and the 40 varieties were classified into two groups. Seven malting barley varieties from China fell into the same subgroup. It was found that the genetic diversity within the Chinese malting barley varieties was narrower than that in other barley germplasm sources, suggesting the importance and feasibility of introducing elite genotypes from different origins for malting barley breeding in China.

关键词： Barley (Hordeum vu/gare L.) Genetic similarity Simple sequence repeat (SSR) marker Cluster analysis Genetic diversity

Expression of trefoil factors 1 and 2 in precancerous condition and gastric cancer

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World Journal of Gastroenterology 2006年第19期12卷 3119-3122页

作者： Shu-Qing Shi jian-Ting Cai jian-ming yang Department of Gastroenterology Zhejiang Provincial People's Hospital Hangzhou 310014 Zhejiang Province China Department of Gastroenterology Second Affiliated Hospital Zhejiang University School of Medicine Hangzhou 310009 Zhejiang Province China

AIM： To study the expression of trefoil factor 1 （TFF1） and TFF2 in precancerous condition and gastric cancer and to explore the relationship between TFFs and tumorigenesis, precancerous condition and gastric cancer. METHODS： The expression of TFF1 and TFF2 was immunohistochemically analyzed in paraffin-embedded samples from 140 patients including 35 cases of chronic superficial gastritis （CSG）, 35 cases of gastric ulcer （GU）, 35 cases of chronic atrophic gastritis （CAG） and 35 cases of gastric cancer （GC）. RESULTS： TFF1 and TFF2 were located in cytoplasm of gastric mucous cells. In CSG, GU, CAG and GC, the level of TFF1 expression had a decreased tendency （P〈 0.05）. The expression of TFF2 was higher in GU than in CSG, but the difference was not significant. The expression of TFF2 also had a decreased tendency in GU, CAG, and GC （P〈 0.05）. CONCLUSION： The reduced expression of TFF1 and TFF2 in precancerous conditions and gastric cancer may be associated with the proliferation and malignant transformation of gastric mucosa. More investigations are needed to explore the mechanism of TFFs and the relationship between TFFs and gastric cancer.

关键词： Trefoil factor Gastric cancer Immunohistochemistry

Individual and joint toxic effects of cadmium sulfate and α-naphthoflavone on the development of zebrafish embryo

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2014年第9期15卷 766-775页

作者： jian YIN jian-ming yang Feng ZHANG Peng MIAO Ying LIN ming-li CHEN CAS Key Lab of Bio-Medical Diagnostics Suzhou Institute of Biomedical Engineering and Technology Chinese Academic of Sciences Suzhou 215163 China Suzhou Xiexin Photovoltaic Technology Co. Ltd. Suzhou 215163 China University of Chinese Academy of Sciences Beijing 100049 China

This paper aims to evaluate the individual and joint toxicities of cadmium sulfate （CdSO4） and α-naphthoflavone （ANF） in zebrafish embryos. As a result, CdSO4 caused both lethal and sub-lethal effects, such as 24 h post-fertilization （hpf） death and 72 hpf delayed hatching. However, ANF only caused sub-lethal effects, including 48 hpf cardiac edema and 72 hpf delayed hatching. Taking 24 hpf death and 48 hpf cardiac edema as endpoints, the toxicities of CdSO4 and ANF were significantly enhanced by each other. Consistently, both CdSO4 and ANF caused significant oxidative stress, including decreases in the reduced glutathione （GSH） level, inhibition of superoxide dis- mutase （SOD） activity, as well as increases in malondialdehyde （MDA） content in zebrafish embryos, but these mixtures produced much more significant alterations on the biomarkers. Co-treatment of CdSO4 and ANF significantly down-regulated the mRNA level of multidrug resistance-associated protein （mrp） 1 and cytochrome P450 （cyp） la, which constituted the protective mechanisms for zebraflsh embryos to chemical toxins. In conclusion, co-treatment of CdSO4 and ANF exhibited a much more severe damage in zebraflsh embryos than individual treatment. Meanwhile, production of oxidative stress and altered expression of mrpl and cypla could be important components of such joint toxicity.

关键词： Joint toxicity Cadmium sulfate α-Naphthoflavone Zebrafish embryo Oxidative stress

Preserving GABAergic interneurons in acute brain slices of mice using the N-methyl-D-glucamine-based artificial cerebrospinal fluid method

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Neuroscience Bulletin 2015年第2期31卷 265-270页

作者： Geng Pan Yue Li Hong-Yan Geng jian-ming yang Ke-Xin Li Xiao-ming Li Institute of Neuroscience Key Laboratory of Medical Neurobiology of the Ministry of Health Zhejiang Province Key Laboratory of Neurobiology School of MedicineZhejiang University Soft Matter Research Center Zhejiang University

Defects in the function and development of GABAergic interneurons have been linked to psychiatric disorders, so preservation of these interneurons in brain slices is important for successful electrophysiological recording in various ex vivo methods. However, it is difficult to maintain the activity and morphology of neurons in slices from mice of 〉30 days old. Here we evaluated the N-methyI-D-glucamine （NMDG）- based artificial cerebrospinal fluid （aCSF） method for the preservation of interneurons in slices from mice of up to -6 months old and discussed the steps that may affect their quality during slicing. We found that the NMDG-aCSF method rescued more cells than sucrose-aCSF and successfully preserved different types of interneurons including parvalbumin- and somatostatin-positive interneurons. In addition, both the chemical and electrical synaptic signaling of interneurons were maintained. These results demonstrate that the NMDG-aCSF method is suitable for the preservation of interneurons, especially in studies of gap junctions.

关键词： artificial cerebrospinal fluid acute brainslice electrophysiology N-methyI-D-glucamine parvalbumin somatostatin

Development of GABA circuitry of erbb4-mutant mice

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Development of GABA circuitry of erbb4-mutant mice

Changes in immunological function after treatment with transarterial chemoembolization plus radiofrequency ablation in hepatocellular carcinoma patients

第二届全国发育生物学大会

作者： jian-ming yang Jing Zhang Xiao-ming Li Institute of Neuroscience Key Laboratory of Medical Neurobiology of the Ministry of HealthZhejiang Province Key Laboratory of NeurobiologyZhejiang University School of Medicine

erbb4 is a susceptibility gene for schizophrenia and ErbB4 signals have been hypothesized to function in a number of cortical developmental processes(Silberberg et al.,2006;Mei and Xiong,2008).Several recent studies show that the expression of ErbB4 is mainly restricted to GABAergic interneurons(Yau et al.,2003;Woo et al.,2007),specifically,to parvalbumin-positive(PV)fast-spiking(FS)interneurons(Vullhorst et al.,2009;Fazzari et al.,2010),a large majority of which are PV FS basket cells(Kawaguchi,1995;Taniguchi et al.,2013).However,in the medial prefrontal cortex(mPFC),a brain region that is closely associated with neuropsychiatric disorders including schizophrenia,little is known about the roles of ErbB4 signals during the development of GAB A circuitry,particularly that mediated by PV FS basket ***,with the use of molecular genetics,biochemistry,and electrophysiology,we deleted ErbB4 receptors in GABAergic forebrain neurons during the embryonic period and demonstrated that in the mouse mPFC,ErbB4signals were dispensable for the development of GABAergic synapses mediated by PV FS basket ***,they were required for the final maturation rather than the initial formation of glutamatergic synapses on PV FS basket ***,erbb4-mutant mice exhibited hyperactivity and reduced pre-pulse *** together,these data indicate that ErbB4 signals contribute to the development of FS basket cell-mediated GABA circuitry in component-and stage-dependent manners in the mPFC in vivo,and may suggest a mechanism for neuropsychiatric disorders including schizophrenia.

关键词： development GABA circuitry ErbB4

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Chinese Medical Journal 2013年第19期126卷 3651-3655页

作者： GUAN Hai-tao WANG jian yang ming SONG Li TONG Xiao-qiang ZOU Ying-hua Department of Interventional Radiology and Vascular Surgery Peking University First Hospital Beijing 100034 China

Background Different strategies for hepatocellular carcinoma （HCC） may have distinct effects on the immune *** aim of this research was to investigate changes in the immunological function after transcatheter arterial chemoembolization （TACE） plus radiofrequency ablation （RFA） in HCC *** A total of 51 consecutive HCC treatment-naive patients was enrolled in this study and 20 healthy subjects served as *** therapeutic strategy was selected according to the tumor stage and general *** was performed in 25 cases,TACE plus RFA in 17 and RFA in *** the patients underwent routine examinations and peripheral blood was harvested for the detection of lymphocyte subset by flow cytometry 1 day before,and 2 and 4 weeks after the *** serum levels of alpha-fetoprotein （AFP）,ALT and AST were also measured before and 4 weeks after treatment for the evaluation of therapeutic efficacy and liver function *** When compared with healthy controls,the CD4/CD8 ratio and the number of B cells and natural killer （NK） cells were significantly decreased in HCC patients before treatment （P 〈0.05）.When compared with before treatment,the CD4＋ cells and CD4/CD8 ratio decreased but CD8＋ cells increased in the TACE group （P 〈0.05）; the CD4/CD8 ratio and NK cells decreased but CD8＋ cells increased in the TACE-RFA group （P 〈0.05）; the CD3＋ cells,CD4＋ cells,CD4/CD8 ratio and NK cells increased in the RFA group （P 〈0.05）.Significant differences in the CD3＋ cells,CD8＋ cells,CD4/CD8 ratio and NK cells were observed among groups （P 〈0.05）.Moreover,the AFP level decreased and transaminase level increased in all groups （P 〈0.05）.Differences of pre and post treatment between groups were statistically significant （P =0.016,0.025,0.018 respectively）.Conclusions Immunity was compromised in HCC patients; TACE and TACE plus RFA lowered immunologic function to a certain *** improved it accompanied by a protective effect on liver function.

关键词： hepatocellular carcinoma transcatheter arterial chemoembolization radiofrequency ablation CD4+ CD8 + immunologic function

Time and risk factors of viral clearance in COVID-19 patients

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Chinese Medical Journal 2021年第17期134卷 2131-2133页

作者： Chao-Jie Wei Xing-Xing Hu Guang-ming Ye jian-ming yang Zhen-Shun Cheng Xing-Huan Wang Department of Pulmonary and Critical Care Medicine Zhongnan Hospital of Wuhan UniversityWuhanHubei 430071China Wuhan Research Center for Infectious Diseases and Cancer Chinese Academy of Medical SciencesWuhanHubei 430071China Department of Laboratory Medicine Zhongnan Hospital of Wuhan UniversityWuhanHubei 430071China Department of Respiratory Medicine Wuxue No.1 People’s HospitalWuxueHubei435401China Department of Urology Zhongnan Hospital of Wuhan UniversityWuhanHubei 430071China

To the Editor:Coronavirus disease 2019(COVID-19)has become a global *** minimize the risk of viral transmission in the community,some countries require two negative results of reverse transcription polymerase chain reaction(RT-PCR)for severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)RNA on nasopharyngeal swabs collected≥24 h apart for hospital discharge and discontinuation of ***,understanding the time of viral clearance is ***,there are limited data reporting the viral clearance time and its risk factors in COVID-19 patients.[1,2]Moreover,the numbers of patients were limited and the risk factors of viral clearance were inconsistent in these ***,we aim to determine the time and risk factors of viral clearance in throat swabs in COVID-19 patients.

关键词： patients acute respiratory